#include "zf_common_headfile.h"
#include "dirs.h"
#include "Filter.h"
#include "shared_quant.h"
#include "vofa_helper.h"
//#include <concepts>


float constrain(float value, float min_val, float max_val);

void ICPID_init(MotorPID* pid,float Kp,float Ki,float kd, float max_delta_plus,float max_delta_minus, float max_pwm);

float Incremental_PID(MotorPID* pid, float target, float current);
void MotorSet(void);
void MotorControl(int16 speedi);